mirror of
https://github.com/DrBeef/ioq3quest.git
synced 2024-11-23 12:32:09 +00:00
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
/*
|
|
===========================================================================
|
|
Copyright (C) 1999-2005 Id Software, Inc.
|
|
|
|
This file is part of Quake III Arena source code.
|
|
|
|
Quake III Arena source code is free software; you can redistribute it
|
|
and/or modify it under the terms of the GNU General Public License as
|
|
published by the Free Software Foundation; either version 2 of the License,
|
|
or (at your option) any later version.
|
|
|
|
Quake III Arena source code is distributed in the hope that it will be
|
|
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Foobar; if not, write to the Free Software
|
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
|
===========================================================================
|
|
*/
|
|
#include "math_quaternion.h"
|
|
#include "math_matrix.h"
|
|
|
|
void toQuat( idVec3_t &src, quat_t &dst ) {
|
|
dst.x = src.x;
|
|
dst.y = src.y;
|
|
dst.z = src.z;
|
|
dst.w = 0.0f;
|
|
}
|
|
|
|
void toQuat( angles_t &src, quat_t &dst ) {
|
|
mat3_t temp;
|
|
|
|
toMatrix( src, temp );
|
|
toQuat( temp, dst );
|
|
}
|
|
|
|
void toQuat( mat3_t &src, quat_t &dst ) {
|
|
float trace;
|
|
float s;
|
|
int i;
|
|
int j;
|
|
int k;
|
|
|
|
static int next[ 3 ] = { 1, 2, 0 };
|
|
|
|
trace = src[ 0 ][ 0 ] + src[ 1 ][ 1 ] + src[ 2 ][ 2 ];
|
|
if ( trace > 0.0f ) {
|
|
s = ( float )sqrt( trace + 1.0f );
|
|
dst.w = s * 0.5f;
|
|
s = 0.5f / s;
|
|
|
|
dst.x = ( src[ 2 ][ 1 ] - src[ 1 ][ 2 ] ) * s;
|
|
dst.y = ( src[ 0 ][ 2 ] - src[ 2 ][ 0 ] ) * s;
|
|
dst.z = ( src[ 1 ][ 0 ] - src[ 0 ][ 1 ] ) * s;
|
|
} else {
|
|
i = 0;
|
|
if ( src[ 1 ][ 1 ] > src[ 0 ][ 0 ] ) {
|
|
i = 1;
|
|
}
|
|
if ( src[ 2 ][ 2 ] > src[ i ][ i ] ) {
|
|
i = 2;
|
|
}
|
|
|
|
j = next[ i ];
|
|
k = next[ j ];
|
|
|
|
s = ( float )sqrt( ( src[ i ][ i ] - ( src[ j ][ j ] + src[ k ][ k ] ) ) + 1.0f );
|
|
dst[ i ] = s * 0.5f;
|
|
|
|
s = 0.5f / s;
|
|
|
|
dst.w = ( src[ k ][ j ] - src[ j ][ k ] ) * s;
|
|
dst[ j ] = ( src[ j ][ i ] + src[ i ][ j ] ) * s;
|
|
dst[ k ] = ( src[ k ][ i ] + src[ i ][ k ] ) * s;
|
|
}
|
|
}
|